A wheel alignment system and battery swap platform and battery swap station

Abstract

The application discloses a wheel positioning system, a battery replacing platform and a battery replacing station, and the wheel positioning system has four positioning devices for positioning wheels of a vehicle to be replaced on the battery replacing platform respectively, and each positioning device comprises a first positioning mechanism and a second positioning mechanism; the first positioning mechanism is used for positioning the wheels in the longitudinal direction of the vehicle, and the first positioning mechanism comprises a supporting assembly and a positioning assembly, and the positioning assembly is arranged on the upper surface of the supporting assembly and contacts the wheels; the second positioning mechanism is arranged on the side of the supporting assembly close to the outer side of the wheels, and the second positioning mechanism is used for positioning the wheels in the transverse direction of the vehicle, and the second positioning mechanism comprises an inflatable air bag and an inflation assembly, the inflatable air bag is arranged on the inner side wall of the supporting assembly, the inflation assembly is arranged on the outer side wall of the supporting assembly, and the inflatable air bag can push the wheels to a predetermined position after being inflated. The application can reduce the damage of the positioning mechanism to the tires and the wheels during the wheel positioning, and can greatly simplify the mechanism arrangement of the battery replacing platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric vehicle charging and battery swapping, and in particular to a wheel positioning system, a battery swapping platform and a battery swapping station. BACKGROUND

[0002] The power of an electric vehicle comes from an on-board battery. How to provide fast and effective energy supply for an electric vehicle with insufficient energy has become a problem that vehicle owners and manufacturers are very concerned about. In order to save charging time, electric vehicles often use detachable on-board batteries, that is, when an electric vehicle is about to run out of power, the old battery with insufficient power can be removed at a battery swapping station, and then a new battery with full power can be replaced. The battery with insufficient power is charged in the battery swapping station and then supplied to other electric vehicles. In this way, each electric vehicle only needs to spend time replacing the battery to restore power, and does not need to wait for charging time. Compared with the way of charging to supplement the energy of the vehicle, the way of battery swapping has the advantages of short energy supplement time, automatic energy supplement, flexible battery charging time, etc.

[0003] In recent years, more and more battery swapping stations for replacing power batteries of electric vehicles have appeared at home and abroad. The battery swapping station includes a battery swapping room and a charging room. The battery swapping room has a battery replacement platform for positioning the vehicle. When the vehicle needs to be replaced, the vehicle with battery replacement function drives into the battery replacement platform when it needs to replace the power battery. The corresponding battery replacement mechanism in the battery swapping station takes down the power battery to be replaced on the vehicle and replaces the power battery that has been fully charged in the battery swapping station. The power battery of the electric vehicle is usually fixed to the vehicle chassis by multiple screws. The power battery is heavy and often needs to be fixed by multiple screws. Because there are many fixing points on the power battery, the positioning of the electric vehicle to be replaced and the on-board power battery before screwing is particularly important. The battery replacement mode has high requirements for the parking position of the vehicle to be replaced. After positioning is completed, the battery replacement device can perform the battery replacement action to complete the separation and installation of the power battery to be replaced and the vehicle. If the parking position is deviated, the battery replacement process will not be able to proceed smoothly. The positioning mechanism in the prior art is mostly contact type positioning, which can easily damage the wheels and tires. SUMMARY

[0004] The purpose of the present application is to provide a wheel positioning system, a battery swapping platform and a battery swapping station to overcome the technical problems in the background art.

[0005] The present application is achieved by the following technical solutions:

[0006] The first aspect of the present application provides a wheel positioning system, which has four positioning devices for positioning wheels of a vehicle to be powered by a power exchange platform, wherein each positioning device comprises a first positioning mechanism and a second positioning mechanism; the first positioning mechanism is used for positioning the wheels in the longitudinal direction of the vehicle, and comprises a support assembly and a positioning assembly arranged on the upper surface of the support assembly in contact with the wheels; the second positioning mechanism is arranged on the side of the support assembly close to the outer side of the wheels, and is used for positioning the wheels in the lateral direction of the vehicle, and comprises an inflatable air bag arranged on the inner side wall of the support assembly and an inflation assembly arranged on the outer side wall of the support assembly, wherein the inflatable air bag can push the wheels to a predetermined position after being inflated.

[0007] Further, a protective layer made of soft material is arranged on the surface of the inflatable air bag in contact with the wheels.

[0008] Further, the inflatable air bag is provided with an air inlet valve and an air outlet valve for discharging the gas in the inflatable air bag, and the inflation assembly comprises a gas pump, wherein the gas outlet of the gas pump is in communication with the air inlet valve.

[0009] Further, the surface of the first positioning mechanism comprises a first surface and a second surface forming a predetermined angle, and a groove is formed at the junction of the first surface and the second surface in the lateral direction of the vehicle to be powered, and the wheels are positioned in the longitudinal direction of the vehicle in the groove.

[0010] Further, the positioning assembly comprises a plurality of rollers arranged side by side along the surface of the first positioning mechanism, and adjacent rollers are not in contact with each other, and the rollers can roll in the lateral direction of the vehicle to be powered.

[0011] Further, a sliding device is further included, which is fixedly connected with the first positioning mechanism and is slidingly connected with the power exchange platform, and is used for driving the first positioning mechanism to slide in the longitudinal direction of the power exchange platform.

[0012] Further, a position sensor and a first judgment module are further included; the position sensor is used for acquiring the position information of the wheels; and the first judgment module is used for judging whether the position of the wheels is in a predetermined position according to the position information of the wheels.

[0013] Further, the application further comprises a second judging module and a controller; when the first judging module judges that the position of the wheel is not at the predetermined position, the second judging module is used to judge which side of the battery swapping platform the position of the wheel is deviated to; the controller is used to adjust the gas pressure in the inflatable air bag according to the judging result of the second judging module until the judging result of the first judging module is that the wheel is at the predetermined position.

[0014] The second aspect of the application provides a battery swapping platform comprising the wheel positioning system.

[0015] The third aspect of the application further provides a battery swapping station comprising the battery swapping platform.

[0016] The application has the following beneficial effects:

[0017] The wheel positioning system of the application can inflate the inflatable air bag by the inflation method to push the wheel to move laterally, and the application can position the side of the wheel by the inflatable air bag without damaging the tire and the wheel, and can reduce the damage of the positioning mechanism to the tire and the wheel during the wheel positioning, compared with the prior art; and the application can achieve the purpose of adjusting the position by inflating the inflatable air bag by the inflation assembly, without the need of a complex transmission mechanism, so that the structure is simple, the parts are few, the mechanism setting of the battery swapping platform can be greatly simplified, and the construction cost and the maintenance cost of the battery swapping platform can be saved. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0019] Figure 1 is a structural schematic view of the wheel positioning system of the embodiment of the application;

[0020] Figure 2 is a structural schematic view of the inflatable air bag of the wheel positioning system of the embodiment of the application after inflation;

[0021] Figure 3 is a side view schematic view of the wheel in the wheel positioning system of the embodiment of the application after positioning;

[0022] Figure 4 is a structural schematic view of the battery swapping platform in the embodiment of the application;

[0023] Figure 5 is a structural schematic view of the wheel in the battery swapping platform of the embodiment of the application after positioning;

[0024] Wherein, the figure mark corresponds to: 1-support assembly, 2-positioning assembly, 3-inflatable air bag, 4-inflation assembly, 5-groove, 6-roller. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0026] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above-described figures are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] The positioning mechanism of the prior art adopts a contact type positioning mode, and the positioning mechanism is easy to cause damage to the wheel and the tire. In view of the above defects of the prior art, the present application provides a wheel positioning system, which is described with reference to Figures 1-5 The wheel positioning system in the present application has four positioning devices for positioning the wheels of the vehicle to be replaced on the battery replacement platform, and the positioning device comprises a first positioning mechanism and a second positioning mechanism. The first positioning mechanism is used for positioning the wheels in the longitudinal direction of the vehicle, and comprises a support assembly 1 and a positioning assembly 2. The positioning assembly 2 is arranged on the upper surface of the support assembly 1 in contact with the wheels. The second positioning mechanism is arranged on the side of the support assembly 1 close to the outer side of the wheels, and is used for positioning the wheels in the transverse direction of the vehicle. The second positioning mechanism comprises an inflatable air bag 3 and an inflation assembly 4 for inflating the inflatable air bag 3. The inflatable air bag 3 is arranged on the inner side wall of the support assembly 1, and the inflation assembly 4 is arranged on the outer side wall of the support assembly 1. After the inflatable air bag 3 is inflated, it can push the wheels to a predetermined position. The predetermined position refers to the position of each screw of the power battery of the vehicle to be replaced, which can be accurately positioned by the battery dismounting and mounting device on the battery replacement platform. Generally, when the vehicle to be replaced is in the center state in the length direction and the width direction on the battery replacement platform, the wheels are in the position, so as to facilitate the dismounting and replacing of the power battery.

[0028] In the embodiments of the present application, it is understood that the vehicle longitudinal direction refers to the advancing and retreating direction of the vehicle on the battery swap platform, i.e. the length direction of the vehicle, corresponding to the X direction of the vehicle coordinate system, and "front" and "rear" are relative to the vehicle, with the direction pointed by the front of the vehicle being the front direction and the direction pointed by the rear of the vehicle being the rear direction; the vehicle transverse direction refers to the left and right direction of the vehicle on the battery swap platform, i.e. the width direction of the vehicle, corresponding to the Y direction of the vehicle coordinate system. It can be understood by those skilled in the art that the vehicle in the embodiments of the present application can include various new energy battery swap vehicles such as hybrid vehicles and pure electric vehicles; and the wheel can refer to the front wheel or the rear wheel of the vehicle.

[0029] The wheel positioning system in the embodiments can inflate the inflatable air bag 3 by inflation method, and the height of the inflatable air bag 3 is related to the inflation amount in the inflatable air bag 3. When the inflation amount in the inflatable air bag 3 reaches a certain requirement, the inflatable air bag 3 contacts and presses the wheel, and the inflation amount in the inflatable air bag 3 continues to increase to push the wheel to move transversely. By positioning the side of the wheel through the inflatable air bag 3, the tire and the wheel are not damaged, and the damage of the positioning mechanism to the tire and the wheel during wheel positioning can be reduced. Moreover, the purpose of adjusting the position can be achieved by inflating the inflatable air bag 3 through the inflation assembly, without the need for a complex transmission mechanism, so that the structure is simple, the parts are few, the mechanism setting of the battery swap platform can be greatly simplified, and the construction cost and the maintenance cost of the battery swap platform can be saved.

[0030] As a specific implementation, since the contact type positioning is adopted, the inflatable air bag 3 needs to contact and press the tire during wheel positioning, the inflatable air bag 3 can be made of a material meeting the strength requirement, for example, pure rubber, composite rubber, or a skeleton material formed by coating a surface of a polyester or nylon fabric with rubber or other materials, so as to reduce the abrasion and damage of the wheel and the tire during wheel positioning. Alternatively, in order to avoid the friction damage of the inflatable air bag 3 caused by the contact with the wheel, a protective layer can be arranged on the surface of the inflatable air bag 3 in contact with the wheel. In order to avoid the additional abrasion of the wheel to the protective layer, the protective layer is made of a soft material, for example, rubber material, or other types of materials, so as to reduce the abrasion and damage of the wheel to the inflatable air bag 3, thereby prolonging the service life of the inflatable air bag 3. It is to be noted that, in order to avoid the abrasion of the inflatable air bag 3, those skilled in the art can also arrange other types of protective layers on the surface of the inflatable air bag 3 in contact with the wheel according to the needs, which is not limited in the present application.

[0031] As a specific embodiment, in order to increase the contact area of the inflatable air bag 3 with the wheel, so as to better push and position the wheel, the inflatable air bag 3 can be circular, annular, arched or straight, etc. Of course, the embodiments of the present application are not limited thereto, and those skilled in the art can also make any appropriate adjustment as needed.

[0032] As a specific embodiment, the inflatable air bag 3 has an air inlet valve and an air outlet valve for discharging the gas in the inflatable air bag 3. The inflation assembly 4 can include a gas pump, and the gas outlet of the gas pump is in communication with the air inlet valve. The inflation assembly 4 inflates the inflatable air bag 3 to expand, which can push the side of the tire of the wheel to be adjusted, so as to adjust the position of the wheel of the vehicle to be replaced, so as to accurately position the vehicle on the battery replacement platform. The structure is simple in design, easy to manufacture and install. When the vehicle to be replaced is positioned or needs to drive away from the battery replacement station after the battery replacement operation is completed, the gas in the inflatable air bag 4 can be discharged through the air outlet valve, so that the inflatable air bag 4 returns to the deflated state, so as to facilitate the next battery replacement positioning and adjustment of the vehicle to be replaced.

[0033] As a specific embodiment, the surface of the first positioning mechanism includes a first surface and a second surface forming a preset angle, and a groove 5 is formed at the junction of the first surface and the second surface along the transverse direction of the vehicle to be replaced. The wheel is positioned in the longitudinal direction of the vehicle in the groove 5. The embodiment can quickly achieve simple and coarse positioning of the wheel in the longitudinal direction of the vehicle through the groove 5. Whether the vehicle has been positioned in the longitudinal direction can be determined by whether the front wheel or the rear wheel of the vehicle moves to the middle of the groove 5. When the wheel slowly drives into and falls into the center of the groove 5, it is considered that the wheel has been preliminarily positioned in the longitudinal direction. The shape of the groove 5 in the embodiment can be rectangular, U-shaped, V-shaped, etc. Preferably, it is configured as V-shaped, so that the positioning of the wheel in the longitudinal direction is more stable and reliable, and the included angle between the first surface and the second surface is preferably obtuse, so as to facilitate the driving of the vehicle to be replaced into the battery replacement station and the driving out of the battery replacement station after the battery replacement is completed.

[0034] As a specific embodiment, the positioning assembly comprises a plurality of rollers 6 arranged side by side along the surface of the first positioning mechanism, adjacent rollers 6 are not in contact with each other, and the rollers 6 can roll in the transverse direction of the vehicle to be replaced. Specifically, the rollers 6 on the first surface can be connected to both sides of the first surface through roller shafts, and the rollers 6 on the second surface can be connected to both sides of the second surface through roller shafts. With the structural design of the rollers, the axial arrangement direction of the rollers 6 is the same as the driving-in or driving-out direction of the vehicle, and adjacent rollers 6 are not in contact with each other, so that each roller 6 can independently roll. On the one hand, the rollers 6 can provide support for the vehicle to be replaced, and on the other hand, when the vehicle is pushed in the transverse direction of the vehicle, the rolling of the rollers 6 allows the wheels to slide in the transverse direction of the vehicle. When the inflatable air bag 3 pushes the wheels to move on the surface of the first positioning mechanism in the transverse direction of the vehicle, the rolling friction between the rollers 6 and the wheels can reduce the friction between the wheels and the first and second surfaces, so that the wheels can be adjusted in the transverse direction with less friction, and at the same time, it is also beneficial to reduce the wear of the tires. Moreover, since the rollers guide the non-powered device, the structure is simple, which is conducive to reducing the overall energy consumption of the battery replacement platform.

[0035] In the embodiment of the present application, as a further improvement, a conveyor such as a track can also be provided on the surface of the roller 6. When the roller 6 rolls, it drives the track, and the wheels can be conveyed by the track, which can further reduce the friction when the wheels move in the transverse direction, thereby more quickly achieving the transverse adjustment of the wheels.

[0036] As a specific embodiment, the vehicle positioning system in the embodiment further comprises a sliding device, the sliding device is fixedly connected with the first positioning mechanism, and the sliding device is slidingly connected to the battery replacement platform. The sliding device is used to drive the first positioning mechanism to slide in the longitudinal direction of the battery replacement platform, so as to adapt to different wheelbase of the electric vehicle to be replaced.

[0037] As a specific embodiment, the wheel positioning system in the embodiment further comprises a position sensor and a first judgment module. The position sensor is used to obtain the position information of the wheels. The first judgment module is used to judge whether the position of the wheels is in a predetermined position according to the position information of the wheels. The predetermined position refers to the position of the wheels when the battery replacement platform is in a state that the power battery screws of the vehicle to be replaced are accurately positioned by the battery disassembly and replacement equipment on the battery replacement platform, and generally refers to the position of the wheels when the vehicle to be replaced is centered in the length direction and the width direction of the battery replacement platform. This is convenient for disassembling and replacing the power battery. Specifically, the position sensor can have four, respectively used to obtain the position information of the four wheels. The position sensor in the embodiment can be, for example, an optical position sensor, a magneto-electric position sensor, etc. The present application does not limit this. Alternatively, the distance between the left and right wheels and the middle of the battery replacement station can be detected by a distance measuring sensor. Those skilled in the art can also make any appropriate adjustment to the sensor as needed, as long as the same function as in the embodiment of the present application can be achieved.

[0038] As a specific embodiment, the wheel positioning system in the embodiment further comprises a second judging module and a controller. When the first judging module judges that the position of the wheel is not at the predetermined position, the second judging module is used to judge to which side of the battery swap platform the position of the wheel deviates, for example, a first side in the longitudinal direction of the battery swap platform and a second side opposite to the first side; the controller is used to adjust the gas pressure in the inflatable air bag 3 according to the judgment result of the second judging module until the judgment result of the first judging module is that the wheel is at the predetermined position. Specifically, when the position of the wheel deviates to the first side, the controller controls to increase the gas pressure of the inflatable air bag 3 located at the second side; when the position of the wheel deviates to the second side, the controller controls to increase the gas pressure of the inflatable air bag 3 located at the first side. Through the joint adjustment of the inflatable air bags 3 located at the four wheels of the vehicle, the positioning of the vehicle to be swapped is completed. It should be noted that the controller can also be adjusted as needed by those skilled in the art, and the embodiment of the present application does not limit this.

[0039] The working process of the wheel positioning system in the embodiment is as follows:

[0040] The vehicle to be swapped drives into the battery swap platform, and the wheel falls into the groove 5 of the first positioning mechanism, which limits the front-rear direction of the vehicle, positions the wheel in the longitudinal direction of the vehicle, and realizes preliminary positioning; the position information of the wheel is obtained through the position sensor, and the first judging module judges whether the wheel is at the predetermined position according to the position information. If the wheel is at the predetermined position, the process is ended. If the wheel is not at the predetermined position, the second judging module further judges whether the position of the wheel deviates to the first side or the second side of the battery swap platform. If the position of the wheel deviates to the first side, the controller controls to increase the gas pressure of the inflatable air bag 3 on the second side opposite to the wheel. If the position of the wheel deviates to the second side, the controller controls to increase the gas pressure of the inflatable air bag 3 on the first side opposite to the wheel. Through the joint adjustment of the four inflatable air bags 3 located at the left front, right front, left rear and right rear of the vehicle to be swapped, until the judgment result of the first judging module is that the wheel is at the predetermined position, the positioning in the lateral direction of the vehicle is realized, the process is ended, and thus the overall positioning of the vehicle to be swapped on the battery swap platform is completed.

[0041] Another embodiment of the present application provides a battery swap platform, which comprises the wheel positioning system in the above embodiment. Figure 4 and Figure 5 A schematic diagram of the positioning of the vehicle to be swapped on the battery swap platform is shown. Four positioning devices located on the battery swap platform are used to position the four wheels of the vehicle to be swapped. Since the wheel positioning system has the above beneficial effects, the battery swap platform in the embodiment should also have the same beneficial effects, which will not be described here.

[0042] Another embodiment of the present application also provides a battery swap station, which comprises the battery swap platform in the above-mentioned embodiments. Since the battery swap platform has the above-mentioned beneficial effects, the battery swap station in the present embodiment should also have the same beneficial effects, which will not be repeated here.

[0043] The above-mentioned embodiments of the present application have the following beneficial effects:

[0044] The wheel positioning system of the present application can inflate the inflatable air bag by inflation method to push the wheel to move transversely. The present application positions the side of the wheel by the inflatable air bag without damaging the tire and the wheel. Compared with the prior art, the present application can reduce the damage of the positioning mechanism to the tire and the wheel during wheel positioning. Moreover, the present application can achieve the purpose of adjusting the position by inflating the inflatable air bag by the inflation assembly, without the need for a complex transmission mechanism. The structure is simple, the parts are few, the mechanism setting of the battery swap platform can be greatly simplified, and the construction cost and maintenance cost of the battery swap platform can be saved.

[0045] The above-mentioned is the preferred embodiment of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which are also considered to be within the scope of protection of the present application.

Claims

1. A wheel alignment system having four alignment devices for aligning wheels of a vehicle to be battery swapped to a battery swapping platform, characterized in that, The positioning device comprises a first positioning mechanism and a second positioning mechanism; The first positioning mechanism is used for positioning the wheel in the longitudinal direction of the vehicle, and comprises a support assembly (1) and a positioning assembly (2) arranged on the upper surface of the support assembly (1) in contact with the wheel. The second positioning mechanism is arranged on the side of the support assembly (1) close to the outer side of the wheel, and is used for positioning the wheel in the transverse direction of the vehicle. The second positioning mechanism comprises an inflatable air bag (3) and an inflation assembly (4) used for inflating the inflatable air bag (3). The inflatable air bag (3) is arranged on the inner side wall of the support assembly (1), and the inflation assembly (4) is arranged on the outer side wall of the support assembly (1). After the inflatable air bag (3) is inflated, the inflatable air bag (3) can push the wheel to a predetermined position. A protective layer is arranged on the surface of the inflatable air bag (3) in contact with the wheel, and the protective layer is made of soft material. The system further comprises a position sensor and a first judgment module. The position sensor is used for acquiring position information of the wheel, and the first judgment module is used for judging whether the position of the wheel is in a predetermined position according to the position information of the wheel. The system further comprises a second judgment module and a controller. When the first judgment module judges that the position of the wheel is not in the predetermined position, the second judgment module is used for judging which side of the battery swapping platform the position of the wheel deviates to. The controller is used for adjusting the gas pressure in the inflatable air bag according to the judgment result of the second judgment module, until the judgment result of the first judgment module is that the wheel is in the predetermined position. The predetermined position refers to the position of the wheel when the vehicle to be swapped is centered in the length direction and the width direction of the battery swapping platform.

2. The wheel alignment system of claim 1, wherein, The inflatable air bag (3) has an air inlet valve and an air outlet valve used for discharging the gas in the inflatable air bag (3), and the inflation assembly (4) comprises a gas pump. The gas outlet of the gas pump is in communication with the air inlet valve.

3. The wheel alignment system of claim 1, wherein, The surface of the first positioning mechanism comprises a first surface and a second surface forming a preset angle. A groove (5) is formed at the junction of the first surface and the second surface in the transverse direction of the vehicle to be swapped, and the wheel is positioned in the longitudinal direction of the vehicle in the groove (5).

4. The wheel alignment system of claim 3, wherein, The positioning assembly comprises a plurality of rollers (6) arranged side by side along the surface of the first positioning mechanism. Adjacent rollers (6) are not in contact with each other, and the rollers (6) can roll in the transverse direction of the vehicle to be swapped.

5. The wheel alignment system of claim 1, wherein, The system further comprises a sliding device fixedly connected with the first positioning mechanism, and the sliding device is slidingly connected to the battery swapping platform. The sliding device is used for driving the first positioning mechanism to slide in the longitudinal direction of the battery swapping platform.

6. A battery swapping platform, characterized in that, The system comprises the wheel positioning system according to any one of claims 1-5.

7. A battery swap station, characterized by, The system comprises the battery swapping platform according to claim 6.

Images